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Changes for page 08 Motion Control

Last modified by Iris on 2026/04/03 10:39
From version 5.1
edited by Iris
on 2025/10/21 16:17
Change comment: There is no comment for this version
To version 7.1
edited by Jiahao Lai
on 2025/11/05 13:54
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Iris
1 +XWiki.Jim258
Content
... ... @@ -2203,6 +2203,11 @@
2203 2203  
2204 2204  
2205 2205  
2206 +
2207 +
2208 +
2209 +
2210 +
2206 2206  == **Management functions of axis group motion control** ==
2207 2207  
2208 2208  ----
... ... @@ -4902,22 +4902,20 @@
4902 4902  
4903 4903  Features
4904 4904  )))|(((
4905 -The arc composed of starting point, auxiliary point and ending point is regarded as the trajectory circle of motion.
4906 -
4907 -
4910 +The arc path consists of the starting point, auxiliary points, and ending point.
4908 4908  )))|(((
4909 4909  
4910 4910  
4911 -The auxiliary point is defined as the center of the motion trajectory, so the auxiliary point should be on the perpendicular line connecting the starting point and the ending point.
4914 +The arc path consists of the starting point, the center point, and theending point.
4912 4912  
4913 4913  
4914 4914  
4915 4915  )))|(((
4916 -According to the right-hand grip rule, the ending point and the vector perpendicular to the plane of the circle are defined, and the length of the vector corresponds to the radius of the circle.
4919 +The arc is determined by its starting point, ending point, and the normal vector of the plane containing the circle.
4917 4917  
4918 4918  The direction of the vector determines the direction of CW and CCW circles.
4919 4919  
4920 -The major arc and minor arc are determined by path choice.
4923 +The vector length is the radius of the arc.
4921 4921  )))
4922 4922  |(((
4923 4923  
... ... @@ -5167,6 +5167,7 @@
5167 5167  |0x00400005|MC_ERROR_ID_POSITION_OVER_POSITIVE_LIMIT|Position over positive limit
5168 5168  |0x00400006|MC_ERROR_ID_POSITION_OVER_NEGATIVE_LIMIT|Position over negative limit
5169 5169  |0x00400007|MC_ERROR_ID_POSITION_LAG_OVERLIMIT|Position lag over limit
5173 +|0x00400008|MC_ERROR_ID_TORQUE_OVER_LIMIT|Torque over limit
5170 5170  |(% colspan="3" %)**Error Stop**
5171 5171  |0x00500000|MC_ERROR_ID_AXIS_ERROR_STOP|Axis error stopped
5172 5172  |(% colspan="3" %)**Error from servo**
... ... @@ -5190,6 +5190,25 @@
5190 5190  |0x00600011|MC_ERROR_ID_SERVO_PARAWRITE|Write Servo parameter error
5191 5191  |0x00600012|MC_ERROR_ID_LOCAL_PULSE_HOME_TIMEOUT|Time out when origin regression
5192 5192  |0x00600013|MC_ERROR_ID_LOCAL_PULSE_HOME_NOT_TOUCH_LIMI|The execution has not encountered the limit
5197 +|0x00600014|(((
5198 +MC_ERROR_ID_LOCAL_PULSE_HOME_VELOCITY_
5199 +
5200 +OVER_LIMIT
5201 +)))|Pulse shaft HOME Velocity over limit
5202 +|0x00600015|(((
5203 +MC_ERROR_ID_LOCAL_PULSE_HOME_ACC_
5204 +
5205 +OVER_LIMIT
5206 +)))|Pulse shaft HOME Acceleration over limit
5207 +|0x00600020|(((
5208 +MC_ERROR_ID_MODE_SWITCH_NEEDPDO_
5209 +
5210 +NOTMAP
5211 +)))|(((
5212 +There is no required PDO for the mode
5213 +
5214 +corresponding to mode switching.
5215 +)))
5193 5193  |0x006000FF|MC_ERROR_ID_SERVO_LOST|Servo lost
5194 5194  |(% colspan="3" %)**Axis’s error**
5195 5195  |0x00700000|MC_ERROR_ID_AXIS_GENERAL_ERROR|Axis's general error